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<li class="navelem"><a class="el" href="dir_df511e5bd85cec96854b39d5e1c27aa8.html">cpp</a></li><li class="navelem"><a class="el" href="dir_bf0f0c8865c1942e08ab5157e2c596db.html">collision</a></li><li class="navelem"><a class="el" href="dir_0695118b3b27d100933d16472a5a2e05.html">include</a></li><li class="navelem"><a class="el" href="dir_d28884e0e9991dd74831dd1628ef4f1a.html">collision</a></li><li class="navelem"><a class="el" href="dir_e6ad0a15879717e90bb3edf6e9f68e2c.html">narrowphase</a></li>  </ul>
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<div class="title">sphere.h</div>  </div>
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<a href="sphere_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef SPHERE_H_</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define SPHERE_H_</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="shape_8h.html">collision/narrowphase/shape.h</a>&quot;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="classcollision_1_1_sphere.html">   14</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcollision_1_1_sphere.html">Sphere</a> : <span class="keyword">public</span> <a class="code" href="classcollision_1_1_shape.html">Shape</a> {</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="classcollision_1_1_sphere.html#aea1dad1d98ae974c334b309f08642b32">   19</a></span>&#160;  <a class="code" href="classcollision_1_1_sphere.html#aea1dad1d98ae974c334b309f08642b32">Sphere</a>(<span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_sphere.html#ac773bc522d6d9dacf188ce25330efa31">radius</a>, <span class="keyword">const</span> Eigen::Vector2d &amp;_center = Eigen::Vector2d(0, 0))</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;      : <a class="code" href="classcollision_1_1_shape.html">Shape</a>(_center) {</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    <a class="code" href="classcollision_1_1_shape.html#ab453849fed42ee9769df87210ca5262d">radius_</a> = <a class="code" href="classcollision_1_1_sphere.html#ac773bc522d6d9dacf188ce25330efa31">radius</a>;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  }</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="classcollision_1_1_sphere.html#a386d75bf80950414a1afb3a7b049a536">   24</a></span>&#160;  <a class="code" href="classcollision_1_1_sphere.html#a386d75bf80950414a1afb3a7b049a536">Sphere</a>(<span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_sphere.html#ac773bc522d6d9dacf188ce25330efa31">radius</a>, <span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y) : <a class="code" href="classcollision_1_1_shape.html">Shape</a>(Eigen::Vector2d(x, y)) {</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <a class="code" href="classcollision_1_1_shape.html#ab453849fed42ee9769df87210ca5262d">radius_</a> = <a class="code" href="classcollision_1_1_sphere.html#ac773bc522d6d9dacf188ce25330efa31">radius</a>;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  }</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_sphere.html#a917e3ac548dff5f5ffd873845b9e7567">rayTrace</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;point1, <span class="keyword">const</span> Eigen::Vector2d &amp;point2,</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;                std::vector&lt;LineSegment&gt; &amp;intersect) <span class="keyword">const override</span>;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <a class="code" href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry&lt;FCL_PRECISION&gt;</a> *</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <a class="code" href="classcollision_1_1_sphere.html#ab2917f7a9433d4718cb04b9ae87e8b43">createFCLCollisionGeometry</a>(<span class="keywordtype">void</span>) <span class="keyword">const override</span>;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *<a class="code" href="classcollision_1_1_sphere.html#a754374f00e6100ea2cfbbd2ee004ff2b">createFCLCollisionObject</a>(</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;      <span class="keyword">const</span> std::shared_ptr&lt;<a class="code" href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry&lt;FCL_PRECISION&gt;</a>&gt; &amp;)</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;      <span class="keyword">const override</span>;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classcollision_1_1_sphere.html#a815a426c24aa748250ea75b7f2c74b2e">   37</a></span>&#160;  <a class="code" href="classcollision_1_1_sphere.html#a815a426c24aa748250ea75b7f2c74b2e">~Sphere</a>() {}</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classcollision_1_1_sphere.html#afa9653c31d11f52e94d24938943d9ee4">   39</a></span>&#160;  <span class="keyword">virtual</span> <a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149">CollisionObjectType</a> <a class="code" href="classcollision_1_1_sphere.html#afa9653c31d11f52e94d24938943d9ee4">getCollisionObjectType</a>()<span class="keyword"> const override </span>{</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a68f8056a19baa4641b9794f471d6a562">CollisionObjectType::OBJ_TYPE_SPHERE</a>;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  };</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <a class="code" href="classcollision_1_1_sphere.html#aea1dad1d98ae974c334b309f08642b32">Sphere</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_sphere.html">Sphere</a> &amp;copy);</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <a class="code" href="classcollision_1_1_sphere.html">Sphere</a> *<a class="code" href="classcollision_1_1_sphere.html#a3a753fc06c7a44f0a1c9321e73ae0045">clone</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_sphere.html#acb5bcd4a264388c5add9533b75488977">print</a>(std::ostringstream &amp;stream) <span class="keyword">const</span>;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_sphere.html#a51b4c7be7cc4f99ce0f6709af9204204">set_radius</a>(<span class="keywordtype">double</span> _radius);</div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classcollision_1_1_sphere.html#ac773bc522d6d9dacf188ce25330efa31">   49</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_sphere.html#ac773bc522d6d9dacf188ce25330efa31">radius</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classcollision_1_1_shape.html#ab453849fed42ee9769df87210ca5262d">radius_</a>; };</div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classcollision_1_1_sphere.html#a397d296146ea44345bf62e2db64a50a6">   50</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_sphere.html#a397d296146ea44345bf62e2db64a50a6">get_x</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">center_</a>(0); };</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classcollision_1_1_sphere.html#a60870981ffbd5a892c66801debc6843b">   51</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_sphere.html#a60870981ffbd5a892c66801debc6843b">get_y</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">center_</a>(1); };</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a> <a class="code" href="classcollision_1_1_sphere.html#af5480bed16c4e3899f4b691a36ce60e7">type</a>() <span class="keyword">const</span>;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor">#if ENABLE_SERIALIZER</span></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <a class="code" href="classcollision_1_1serialize_1_1_i_collision_object_export.html">serialize::ICollisionObjectExport</a> *exportThis(<span class="keywordtype">void</span>) <span class="keyword">const override</span>;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keyword">using</span> <a class="code" href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">Shape::center_</a>;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keyword">using</span> <a class="code" href="classcollision_1_1_shape.html#ab453849fed42ee9769df87210ca5262d">Shape::radius_</a>;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classcollision_1_1_sphere.html#ad894cc3dfba54ca4146b917d32fcfa84">   63</a></span>&#160;  <span class="keyword">static</span> constexpr <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a> <a class="code" href="classcollision_1_1_sphere.html#ad894cc3dfba54ca4146b917d32fcfa84">type_</a> = <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a6a47a22046ce3b8c2279eaaecd6292b4">TYPE_SPHERE</a>;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;};</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;} <span class="comment">// namespace collision</span></div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classcollision_1_1_shape_html_ab453849fed42ee9769df87210ca5262d"><div class="ttname"><a href="classcollision_1_1_shape.html#ab453849fed42ee9769df87210ca5262d">collision::Shape::radius_</a></div><div class="ttdeci">double radius_</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00072">shape.h:72</a></div></div>
<div class="ttc" id="namespacecollision_html_a450ba6ce42e02aa75e1a94fcbddae149"><div class="ttname"><a href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149">collision::CollisionObjectType</a></div><div class="ttdeci">CollisionObjectType</div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00016">collision_object_types.h:16</a></div></div>
<div class="ttc" id="classcollision_1_1_sphere_html_af5480bed16c4e3899f4b691a36ce60e7"><div class="ttname"><a href="classcollision_1_1_sphere.html#af5480bed16c4e3899f4b691a36ce60e7">collision::Sphere::type</a></div><div class="ttdeci">ShapeType type() const</div><div class="ttdoc">Get shape type.</div><div class="ttdef"><b>Definition:</b> <a href="sphere_8cc_source.html#l00114">sphere.cc:114</a></div></div>
<div class="ttc" id="classfcl_1_1_collision_object_html"><div class="ttname"><a href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt; FCL_PRECISION &gt;</a></div></div>
<div class="ttc" id="classcollision_1_1_sphere_html_a397d296146ea44345bf62e2db64a50a6"><div class="ttname"><a href="classcollision_1_1_sphere.html#a397d296146ea44345bf62e2db64a50a6">collision::Sphere::get_x</a></div><div class="ttdeci">double get_x() const</div><div class="ttdef"><b>Definition:</b> <a href="sphere_8h_source.html#l00050">sphere.h:50</a></div></div>
<div class="ttc" id="classfcl_1_1_collision_geometry_html"><div class="ttname"><a href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry</a></div><div class="ttdef"><b>Definition:</b> <a href="i__fcl__collision__object_8h_source.html#l00010">i_fcl_collision_object.h:10</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1b9e0627f58ff6e988d3d1f3b3537a3a6a47a22046ce3b8c2279eaaecd6292b4"><div class="ttname"><a href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a6a47a22046ce3b8c2279eaaecd6292b4">collision::TYPE_SPHERE</a></div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00016">shape.h:16</a></div></div>
<div class="ttc" id="classcollision_1_1_sphere_html_aea1dad1d98ae974c334b309f08642b32"><div class="ttname"><a href="classcollision_1_1_sphere.html#aea1dad1d98ae974c334b309f08642b32">collision::Sphere::Sphere</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW Sphere(double radius, const Eigen::Vector2d &amp;_center=Eigen::Vector2d(0, 0))</div><div class="ttdef"><b>Definition:</b> <a href="sphere_8h_source.html#l00019">sphere.h:19</a></div></div>
<div class="ttc" id="classcollision_1_1serialize_1_1_i_collision_object_export_html"><div class="ttname"><a href="classcollision_1_1serialize_1_1_i_collision_object_export.html">collision::serialize::ICollisionObjectExport</a></div><div class="ttdef"><b>Definition:</b> <a href="i__collision__object__export_8h_source.html#l00008">i_collision_object_export.h:8</a></div></div>
<div class="ttc" id="classcollision_1_1_sphere_html_ab2917f7a9433d4718cb04b9ae87e8b43"><div class="ttname"><a href="classcollision_1_1_sphere.html#ab2917f7a9433d4718cb04b9ae87e8b43">collision::Sphere::createFCLCollisionGeometry</a></div><div class="ttdeci">fcl::CollisionGeometry&lt; FCL_PRECISION &gt; * createFCLCollisionGeometry(void) const override</div><div class="ttdef"><b>Definition:</b> <a href="sphere_8cc_source.html#l00018">sphere.cc:18</a></div></div>
<div class="ttc" id="classcollision_1_1_sphere_html_a917e3ac548dff5f5ffd873845b9e7567"><div class="ttname"><a href="classcollision_1_1_sphere.html#a917e3ac548dff5f5ffd873845b9e7567">collision::Sphere::rayTrace</a></div><div class="ttdeci">bool rayTrace(const Eigen::Vector2d &amp;point1, const Eigen::Vector2d &amp;point2, std::vector&lt; LineSegment &gt; &amp;intersect) const override</div><div class="ttdef"><b>Definition:</b> <a href="sphere_8cc_source.html#l00032">sphere.cc:32</a></div></div>
<div class="ttc" id="classcollision_1_1_sphere_html"><div class="ttname"><a href="classcollision_1_1_sphere.html">collision::Sphere</a></div><div class="ttdoc">Circle.</div><div class="ttdef"><b>Definition:</b> <a href="sphere_8h_source.html#l00014">sphere.h:14</a></div></div>
<div class="ttc" id="classcollision_1_1_sphere_html_a386d75bf80950414a1afb3a7b049a536"><div class="ttname"><a href="classcollision_1_1_sphere.html#a386d75bf80950414a1afb3a7b049a536">collision::Sphere::Sphere</a></div><div class="ttdeci">Sphere(double radius, double x, double y)</div><div class="ttdef"><b>Definition:</b> <a href="sphere_8h_source.html#l00024">sphere.h:24</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1b9e0627f58ff6e988d3d1f3b3537a3"><div class="ttname"><a href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">collision::ShapeType</a></div><div class="ttdeci">ShapeType</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00012">shape.h:12</a></div></div>
<div class="ttc" id="classcollision_1_1_sphere_html_acb5bcd4a264388c5add9533b75488977"><div class="ttname"><a href="classcollision_1_1_sphere.html#acb5bcd4a264388c5add9533b75488977">collision::Sphere::print</a></div><div class="ttdeci">void print(std::ostringstream &amp;stream) const</div><div class="ttdoc">Print all parameters of the shape.</div><div class="ttdef"><b>Definition:</b> <a href="sphere_8cc_source.html#l00103">sphere.cc:103</a></div></div>
<div class="ttc" id="classcollision_1_1_sphere_html_a51b4c7be7cc4f99ce0f6709af9204204"><div class="ttname"><a href="classcollision_1_1_sphere.html#a51b4c7be7cc4f99ce0f6709af9204204">collision::Sphere::set_radius</a></div><div class="ttdeci">void set_radius(double _radius)</div><div class="ttdef"><b>Definition:</b> <a href="sphere_8cc_source.html#l00109">sphere.cc:109</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html"><div class="ttname"><a href="classcollision_1_1_shape.html">collision::Shape</a></div><div class="ttdoc">Base prototype for the shape of an obstacle.</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00024">shape.h:24</a></div></div>
<div class="ttc" id="classcollision_1_1_sphere_html_a60870981ffbd5a892c66801debc6843b"><div class="ttname"><a href="classcollision_1_1_sphere.html#a60870981ffbd5a892c66801debc6843b">collision::Sphere::get_y</a></div><div class="ttdeci">double get_y() const</div><div class="ttdef"><b>Definition:</b> <a href="sphere_8h_source.html#l00051">sphere.h:51</a></div></div>
<div class="ttc" id="classcollision_1_1_sphere_html_a3a753fc06c7a44f0a1c9321e73ae0045"><div class="ttname"><a href="classcollision_1_1_sphere.html#a3a753fc06c7a44f0a1c9321e73ae0045">collision::Sphere::clone</a></div><div class="ttdeci">Sphere * clone() const</div><div class="ttdef"><b>Definition:</b> <a href="sphere_8cc_source.html#l00096">sphere.cc:96</a></div></div>
<div class="ttc" id="classcollision_1_1_sphere_html_afa9653c31d11f52e94d24938943d9ee4"><div class="ttname"><a href="classcollision_1_1_sphere.html#afa9653c31d11f52e94d24938943d9ee4">collision::Sphere::getCollisionObjectType</a></div><div class="ttdeci">virtual CollisionObjectType getCollisionObjectType() const override</div><div class="ttdef"><b>Definition:</b> <a href="sphere_8h_source.html#l00039">sphere.h:39</a></div></div>
<div class="ttc" id="shape_8h_html"><div class="ttname"><a href="shape_8h.html">shape.h</a></div></div>
<div class="ttc" id="namespacecollision_html_a450ba6ce42e02aa75e1a94fcbddae149a68f8056a19baa4641b9794f471d6a562"><div class="ttname"><a href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149a68f8056a19baa4641b9794f471d6a562">collision::OBJ_TYPE_SPHERE</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00020">collision_object_types.h:20</a></div></div>
<div class="ttc" id="classcollision_1_1_sphere_html_a815a426c24aa748250ea75b7f2c74b2e"><div class="ttname"><a href="classcollision_1_1_sphere.html#a815a426c24aa748250ea75b7f2c74b2e">collision::Sphere::~Sphere</a></div><div class="ttdeci">~Sphere()</div><div class="ttdef"><b>Definition:</b> <a href="sphere_8h_source.html#l00037">sphere.h:37</a></div></div>
<div class="ttc" id="classcollision_1_1_sphere_html_ac773bc522d6d9dacf188ce25330efa31"><div class="ttname"><a href="classcollision_1_1_sphere.html#ac773bc522d6d9dacf188ce25330efa31">collision::Sphere::radius</a></div><div class="ttdeci">double radius() const</div><div class="ttdef"><b>Definition:</b> <a href="sphere_8h_source.html#l00049">sphere.h:49</a></div></div>
<div class="ttc" id="classcollision_1_1_sphere_html_ad894cc3dfba54ca4146b917d32fcfa84"><div class="ttname"><a href="classcollision_1_1_sphere.html#ad894cc3dfba54ca4146b917d32fcfa84">collision::Sphere::type_</a></div><div class="ttdeci">static constexpr ShapeType type_</div><div class="ttdef"><b>Definition:</b> <a href="sphere_8h_source.html#l00063">sphere.h:63</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_a3a397b619573e160d18954605a11f7bd"><div class="ttname"><a href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">collision::Shape::center_</a></div><div class="ttdeci">Eigen::Vector2d center_</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00071">shape.h:71</a></div></div>
<div class="ttc" id="classcollision_1_1_sphere_html_a754374f00e6100ea2cfbbd2ee004ff2b"><div class="ttname"><a href="classcollision_1_1_sphere.html#a754374f00e6100ea2cfbbd2ee004ff2b">collision::Sphere::createFCLCollisionObject</a></div><div class="ttdeci">fcl::CollisionObject&lt; FCL_PRECISION &gt; * createFCLCollisionObject(const std::shared_ptr&lt; fcl::CollisionGeometry&lt; FCL_PRECISION &gt;&gt; &amp;) const override</div><div class="ttdef"><b>Definition:</b> <a href="sphere_8cc_source.html#l00023">sphere.cc:23</a></div></div>
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